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<h1>src/qvgpukltflow/qvklttracker.cpp</h1><a href="qvklttracker_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;QVKLTTracker&gt;</span>
<a name="l00026"></a>00026 
<a name="l00027"></a><a class="code" href="classQVKLTTracker.html#a4999f87522dc7fe65ce4f2b6a890a06b">00027</a> <a class="code" href="classQVKLTTracker.html#af77f1ffb76ad088fac619b304e93bfdc" title="Default constructor Do nothing.">QVKLTTracker::QVKLTTracker</a>(<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">bool</span> trackWithGain,
<a name="l00028"></a>00028                            <span class="keywordtype">int</span> featuresWidth , <span class="keywordtype">int</span> featuresHeight,
<a name="l00029"></a>00029                            <span class="keywordtype">int</span> nIterations, <span class="keywordtype">int</span> nLevels, <span class="keywordtype">int</span> levelSkip,<span class="keywordtype">int</span> windowWidth,
<a name="l00030"></a>00030                            <span class="keywordtype">float</span> trackBorderMargin, <span class="keywordtype">float</span> detectBorderMargin,
<a name="l00031"></a>00031                            <span class="keywordtype">float</span> convergenceThreshold, <span class="keywordtype">float</span> SSD_Threshold,
<a name="l00032"></a>00032                            <span class="keywordtype">int</span> minDistance, <span class="keywordtype">float</span> minCornerness) {
<a name="l00033"></a>00033     KLT_SequenceTrackerConfig cfg;
<a name="l00034"></a>00034 
<a name="l00035"></a>00035     cfg.nIterations = nIterations;
<a name="l00036"></a>00036     cfg.nLevels = nLevels;
<a name="l00037"></a>00037     cfg.levelSkip = levelSkip;
<a name="l00038"></a>00038     cfg.trackBorderMargin = trackBorderMargin;
<a name="l00039"></a>00039     cfg.convergenceThreshold = convergenceThreshold;
<a name="l00040"></a>00040     cfg.SSD_Threshold = SSD_Threshold;
<a name="l00041"></a>00041     cfg.trackWithGain = trackWithGain;
<a name="l00042"></a>00042     cfg.minDistance = minDistance;
<a name="l00043"></a>00043     cfg.minCornerness = minCornerness;
<a name="l00044"></a>00044     cfg.detectBorderMargin = detectBorderMargin;
<a name="l00045"></a>00045     cfg.windowWidth = windowWidth;
<a name="l00046"></a>00046 
<a name="l00047"></a>00047     tracker = <span class="keyword">new</span> KLT_SequenceTracker(cfg);
<a name="l00048"></a>00048     tracker-&gt;allocate(width, height, nLevels, featuresWidth, featuresHeight);
<a name="l00049"></a>00049     nFeatures = featuresHeight * featuresWidth;
<a name="l00050"></a>00050     feat = <span class="keyword">new</span> KLT_TrackedFeature[nFeatures];
<a name="l00051"></a>00051     trackID = <span class="keyword">new</span> <span class="keywordtype">int</span> [nFeatures];
<a name="l00052"></a>00052     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0; i&lt;nFeatures; i++) {
<a name="l00053"></a>00053         trackID[i] = 0;
<a name="l00054"></a>00054     }
<a name="l00055"></a>00055     lastID = 1;
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057 
<a name="l00058"></a><a class="code" href="classQVKLTTracker.html#ae2de72693116f879c6c07d017e719408">00058</a> <a class="code" href="classQVKLTTracker.html#ae2de72693116f879c6c07d017e719408" title="Deallocate the tracker from the GPU.">QVKLTTracker::~QVKLTTracker</a>() {
<a name="l00059"></a>00059     tracker-&gt;deallocate();
<a name="l00060"></a>00060     <span class="keyword">delete</span> tracker;
<a name="l00061"></a>00061     <span class="keyword">delete</span> feat;
<a name="l00062"></a>00062     <span class="keyword">delete</span> trackID;
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 
<a name="l00065"></a>00065 <span class="keywordtype">void</span> QVKLTTracker::updateHashTable(QHash&lt;int,QVKLTTrackerFeature&gt; &amp;features,<span class="keywordtype">int</span> width,<span class="keywordtype">int</span> height) {
<a name="l00066"></a>00066     <span class="comment">// features-&gt;clear(); // Really not needed.</span>
<a name="l00067"></a>00067     <span class="comment">// std::cout &lt;&lt; &quot;features-&gt;size() before = &quot; &lt;&lt; features-&gt;size() &lt;&lt; std::endl;</span>
<a name="l00068"></a>00068     <span class="comment">// int sum0 = 0,sum1 = 0,sum2 = 0;</span>
<a name="l00069"></a>00069     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0; i&lt;nFeatures; i++) {
<a name="l00070"></a>00070         <span class="keywordflow">if</span>(feat[i].status == 0) { <span class="comment">// Succesfully tracked feature.</span>
<a name="l00071"></a>00071             <span class="comment">// We update the corresponding feature in the hash:</span>
<a name="l00072"></a>00072             features.insert(trackID[i],
<a name="l00073"></a>00073                              <a class="code" href="classQVKLTTrackerFeature.html" title="Image feature location used by the GPU-KLT tracker.">QVKLTTrackerFeature</a>(feat[i].pos[0]*width, feat[i].pos[1]*height,
<a name="l00074"></a>00074                                                   feat[i].gain));
<a name="l00075"></a>00075             <span class="comment">// sum0++;</span>
<a name="l00076"></a>00076         } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (feat[i].status &gt; 0) { <span class="comment">// New detected feature.</span>
<a name="l00077"></a>00077             <span class="comment">// First, remove old feature from hash if new feature substitutes an old one which was</span>
<a name="l00078"></a>00078             <span class="comment">// not successfully tracked:</span>
<a name="l00079"></a>00079             <span class="keywordflow">if</span>(trackID[i] != 0)
<a name="l00080"></a>00080                 features.remove(trackID[i]);
<a name="l00081"></a>00081             <span class="comment">// Now we add the new feature to the hash:</span>
<a name="l00082"></a>00082             trackID[i] = lastID;
<a name="l00083"></a>00083             lastID++;
<a name="l00084"></a>00084             features.insert(trackID[i],
<a name="l00085"></a>00085                              <a class="code" href="classQVKLTTrackerFeature.html" title="Image feature location used by the GPU-KLT tracker.">QVKLTTrackerFeature</a>(feat[i].pos[0]*width, feat[i].pos[1]*height,
<a name="l00086"></a>00086                                                  feat[i].gain));
<a name="l00087"></a>00087             <span class="comment">// sum1++;</span>
<a name="l00088"></a>00088         } <span class="keywordflow">else</span> { <span class="comment">// feat[i].status &lt; 0 -&gt; lost feature.</span>
<a name="l00089"></a>00089             <span class="comment">// Remove old feature from hash (if it really existed in the hash):</span>
<a name="l00090"></a>00090             <span class="keywordflow">if</span>(trackID[i] != 0)
<a name="l00091"></a>00091                 features.remove(trackID[i]);
<a name="l00092"></a>00092             <span class="comment">// sum2++;</span>
<a name="l00093"></a>00093         }
<a name="l00094"></a>00094     }
<a name="l00095"></a>00095     <span class="comment">//std::cout &lt;&lt; &quot;sum0 = &quot; &lt;&lt; sum0 &lt;&lt; &quot;   sum1 = &quot; &lt;&lt; sum1 &lt;&lt; &quot;   sum2 = &quot; &lt;&lt; sum2 &lt;&lt; std::endl;</span>
<a name="l00096"></a>00096     <span class="comment">//std::cout &lt;&lt; &quot;features-&gt;size() after = &quot; &lt;&lt; features-&gt;size() &lt;&lt; std::endl;</span>
<a name="l00097"></a>00097     <span class="comment">//std::cout &lt;&lt; &quot;lastID = &quot; &lt;&lt; lastID &lt;&lt; std::endl;</span>
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 
<a name="l00100"></a><a class="code" href="classQVKLTTracker.html#a6047e10322f0d4ed95ad61a787fdfebb">00100</a> <span class="keywordtype">void</span> <a class="code" href="classQVKLTTracker.html#a6047e10322f0d4ed95ad61a787fdfebb" title="Detect all features in image from scratch.">QVKLTTracker::detect</a>(<span class="keyword">const</span> <a class="code" href="classQVImage.html">QVImage&lt;uChar,1&gt;</a> &amp;image, QHash&lt;int,QVKLTTrackerFeature&gt; &amp;features) {
<a name="l00101"></a>00101     <span class="keywordtype">int</span> nDetectedFeatures = 0;
<a name="l00102"></a>00102     <span class="keywordtype">int</span> width = image.<a class="code" href="classQVImage.html#ad0f2758702ee4d96d538aa353ae81bb7" title="Overloaded function from QVGenericImage::getCols().">getCols</a>(), height = image.<a class="code" href="classQVImage.html#a55e71ad628f450ee82bb4226cb62ec17" title="Overloaded function from QVGenericImage::getRows().">getRows</a>();
<a name="l00103"></a>00103 
<a name="l00104"></a>00104     tracker-&gt;detect((V3D_GPU::uchar *)image.<a class="code" href="classQVImage.html#a200b9b19dbe2a79f75d603f9ecc67bf1" title="Method to obtain image data buffer, in read mode.">getReadData</a>(), nDetectedFeatures, feat);
<a name="l00105"></a>00105     <span class="comment">// std::cout &lt;&lt; &quot;nDetectedFeatures = &quot; &lt;&lt; nDetectedFeatures &lt;&lt; std::endl;</span>
<a name="l00106"></a>00106     updateHashTable(features,width,height);
<a name="l00107"></a>00107     tracker-&gt;advanceFrame();
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 
<a name="l00110"></a><a class="code" href="classQVKLTTracker.html#affe245d7de2e04d06d4bca4439d80009">00110</a> <span class="keywordtype">void</span> <a class="code" href="classQVKLTTracker.html#affe245d7de2e04d06d4bca4439d80009" title="Detect new features while respecting old ones.">QVKLTTracker::redetect</a>(<span class="keyword">const</span> <a class="code" href="classQVImage.html">QVImage&lt;uChar,1&gt;</a> &amp;image, QHash&lt;int,QVKLTTrackerFeature&gt; &amp;features) {
<a name="l00111"></a>00111     <span class="keywordtype">int</span> nNewFeatures;
<a name="l00112"></a>00112     <span class="keywordtype">int</span> width = image.<a class="code" href="classQVImage.html#ad0f2758702ee4d96d538aa353ae81bb7" title="Overloaded function from QVGenericImage::getCols().">getCols</a>(), height = image.<a class="code" href="classQVImage.html#a55e71ad628f450ee82bb4226cb62ec17" title="Overloaded function from QVGenericImage::getRows().">getRows</a>();
<a name="l00113"></a>00113 
<a name="l00114"></a>00114     tracker-&gt;redetect((V3D_GPU::uchar *)image.<a class="code" href="classQVImage.html#a200b9b19dbe2a79f75d603f9ecc67bf1" title="Method to obtain image data buffer, in read mode.">getReadData</a>(), nNewFeatures, feat);
<a name="l00115"></a>00115     <span class="comment">// std::cout &lt;&lt; &quot;nNewFeatures = &quot; &lt;&lt; nNewFeatures &lt;&lt; std::endl;</span>
<a name="l00116"></a>00116     updateHashTable(features,width,height);
<a name="l00117"></a>00117     tracker-&gt;advanceFrame();
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 
<a name="l00120"></a><a class="code" href="classQVKLTTracker.html#a03abf973b520dbd9ce624c5977b973ba">00120</a> <span class="keywordtype">void</span> <a class="code" href="classQVKLTTracker.html#a03abf973b520dbd9ce624c5977b973ba" title="Track features in the hash.">QVKLTTracker::track</a>(<span class="keyword">const</span> <a class="code" href="classQVImage.html">QVImage&lt;uChar,1&gt;</a> &amp;image, QHash&lt;int,QVKLTTrackerFeature&gt; &amp;features) {
<a name="l00121"></a>00121     <span class="keywordtype">int</span> nPresentFeatures;
<a name="l00122"></a>00122     <span class="keywordtype">int</span> width = image.<a class="code" href="classQVImage.html#ad0f2758702ee4d96d538aa353ae81bb7" title="Overloaded function from QVGenericImage::getCols().">getCols</a>(), height = image.<a class="code" href="classQVImage.html#a55e71ad628f450ee82bb4226cb62ec17" title="Overloaded function from QVGenericImage::getRows().">getRows</a>();
<a name="l00123"></a>00123 
<a name="l00124"></a>00124     tracker-&gt;track((V3D_GPU::uchar *)image.<a class="code" href="classQVImage.html#a200b9b19dbe2a79f75d603f9ecc67bf1" title="Method to obtain image data buffer, in read mode.">getReadData</a>(), nPresentFeatures, feat);
<a name="l00125"></a>00125     <span class="comment">// std::cout &lt;&lt; &quot;nPresentFeatures = &quot; &lt;&lt; nPresentFeatures &lt;&lt; std::endl;</span>
<a name="l00126"></a>00126     updateHashTable(features,width,height);
<a name="l00127"></a>00127     tracker-&gt;advanceFrame();
<a name="l00128"></a>00128 }
</pre></div></div>
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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
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